UPDATE: There is now a much simpler method to install xenomai+
You basically need two components:
- A rootfs, with the distribution of your choice
- A xenomai patched kernel+kernel modules
For step 1, simply start with a working, bootable sd card. This could be the angstrom distribution that comes with your beaglebone (or which you can download from the angstrom website.) Alternatively (and for me, preferably) use a debian image from
[ That link also contains the easy installation instructions, all of which are to be done on your linux PC. ]
At this point, boot the card on the beaglebone and verify that it works. Next, you need to take care of step 2 above. To do so, on your linux PC simply clone
[ I have successfully used the am33x-v3.8-bone26-xenomai branch, so you may want to first try with that.. or, at your discretion, any later branch. ]
Once you finish cloning the repository [which can take some time], simply run the script ./build_kernel.sh [this is also mentioned in the repo's documentation.] The build_kernel.sh script will fetch all necessary software, cross-toolchain etc. and build a working, xenomai enabled kernel for you. Make sure that you copy system.sh.sample to system.sh and edit it appropriately before you run the scripts. Then use the ./tools/install_kernel.sh script to install the kernel to your sd card.
I am not sure if this script installs the xenomai userspace. If it does not, then simply switch to the ignore/xenomai directory which is created when the scripts run, and cross-compile/install it as mentioned in my original guide viz.
./configure --host=arm-linux-gnueabihf;make;make DESTDIR=path/to/mounted/rootfs install;
That is all you need to do. You do not need to execute any commands on the beaglebone.. everything is done on the linux PC.
Removed. This info was causing too much confusion.